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<p>Magnetoactive soft actuators have attracted considerable attention in the fields of soft robotics, flexible electronics, and biomedicines. Their mechanical study is critical for design and control. However, the theoretical investigations into the deformation mechanisms of these magnetoactive soft structures remain scarce due to geometric and material nonlinearities, as well as the complex coupling of stretch/compress, bending, and shear effects. This work develops a model to study the nonlinear statics and dynamics of hard-magnetic soft (HMS) beams with both ends supported. A novel model is proposed that accounts for both geometric and material nonlinearities, and its validity is verified by comparison with prior finite element results. Through extensive calculations, the effects of actuation strength, magnetization gradient, and the angle (or angular velocity) of the external magnetic field on the static and dynamic responses of the supported HMS beam are studied in detail. The proposed theoretical model and the resulting conclusions are intended to support the design and application of smart soft structures.</p>

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Theoretical Investigation on Nonlinear Dynamics of Supported Hard-Magnetic Soft Beams

  • 期刊论文

  • 发表日期：

    2026年4月10日

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  • Bangchao Liu,
  • Wei Chen,
  • Guozhen Wang,
  • Xiaoqiang Zhou,
  • Lin Wang,
  • Zhouping Yin

摘要

Magnetoactive soft actuators have attracted considerable attention in the fields of soft robotics, flexible electronics, and biomedicines. Their mechanical study is critical for design and control. However, the theoretical investigations into the deformation mechanisms of these magnetoactive soft structures remain scarce due to geometric and material nonlinearities, as well as the complex coupling of stretch/compress, bending, and shear effects. This work develops a model to study the nonlinear statics and dynamics of hard-magnetic soft (HMS) beams with both ends supported. A novel model is proposed that accounts for both geometric and material nonlinearities, and its validity is verified by comparison with prior finite element results. Through extensive calculations, the effects of actuation strength, magnetization gradient, and the angle (or angular velocity) of the external magnetic field on the static and dynamic responses of the supported HMS beam are studied in detail. The proposed theoretical model and the resulting conclusions are intended to support the design and application of smart soft structures.